Machine tool changer, machine tool, and machine tool changing method

Abstract

A machine tool changer includes a manipulator; a manipulator mounting arm; a manipulator mounting base; a manipulator rotation driving mechanism; a manipulator swinging driving mechanism; and a manipulator horizontal moving driving mechanism. The manipulator is mounted on the manipulator mounting arm, which is mounted with the manipulator rotation driving mechanism for driving the manipulator to rotate around a horizontal axis. The manipulator mounting arm is mounted on the manipulator mounting arm, which is mounted with a manipulator swinging driving mechanism for driving the manipulator mounting arm to swing around the horizontal axis. The manipulator mounting base is mounted with the manipulator horizontal moving driving mechanism for driving the manipulator mounting base to move horizontally to make the manipulator approach or move away from a machine tool spindle.

1 . A machine tool changer, comprising:
 a manipulator;   a manipulator mounting arm;   a manipulator mounting base;   a manipulator rotation driving mechanism;   a manipulator swinging driving mechanism; and   a manipulator horizontal moving driving mechanism, wherein   wherein the manipulator is mounted on the manipulator mounting arm, which is mounted with the manipulator rotation driving mechanism for driving the manipulator to rotate around a horizontal axis, the manipulator mounting arm is mounted on the manipulator mounting base, which is mounted with a manipulator swinging driving mechanism for driving the manipulator mounting arm to swing around the horizontal axis, and the manipulator mounting base is mounted with the manipulator horizontal moving driving mechanism for driving the manipulator mounting base to move horizontally to make the manipulator approach or move away from a machine tool spindle.   
     
     
         2 . The machine tool changer according to  claim 1 , wherein the manipulator horizontal moving driving mechanism includes a guide rail slider, a rack, a gear, and a first driving motor, and
 wherein the guide rail slider is mounted on the manipulator mounting base and connected to a guide rail which is arranged on a machine tool bed, and the first driving motor is mounted on the manipulator mounting base and connected to the gear, which meshes with the rack arranged on the machine tool bed.   
     
     
         3 . The machine tool changer according to  claim 2 , wherein the manipulator mounting base includes a guide rail slider mounting portion, a first driving motor mounting portion, and a manipulator mounting arm installation portion,; and
 wherein the guide rail slider is mounted on the guide rail slider mounting portion, the first driving motor is mounted on the first driving motor mounting portion, an upper portion of one end of the guide rail slider mounting portion is the manipulator mounting arm installation portion, and the manipulator mounting arm is hinged on the manipulator mounting arm installation portion.   
     
     
         4 . The machine tool changer according to  claim 1 , wherein the manipulator mounting arm is hinged on the manipulator mounting base, and the manipulator swinging driving mechanism is a linear driving device with one end hinged to the manipulator mounting arm or the manipulator mounting base and another end fixedly connected to the manipulator mounting base or the manipulator mounting arm. 
     
     
         5 . The machine tool changer according to  claim 1 , wherein the manipulator includes a main tool changing claw, a main clamping claw, and a main clamping claw driving mechanism, the main tool changing claw has a tool holder slot, the main clamping claw driving mechanism is arranged at a bayonet end of the tool holder slot on the main tool changing claw, and the main clamping claw is fixed on the main clamping claw driving mechanism, which can drive the main clamping claw to move toward the tool holder slot to clamp or release a tool holder in the tool holder slot. 
     
     
         6 . The machine tool changer according to  claim 1 , wherein the manipulator rotation driving mechanism is a second driving motor. 
     
     
         7 . The machine tool changer according to  claim 1 , wherein the manipulator mounting base is also mounted with a travel switch. 
     
     
         8 . A machine tool, comprising:
 a machine tool bed;   a machine tool spindle;   a tool magazine; and the machine tool changer according to  claim 1 ,   wherein the machine tool spindle is mounted on the machine tool bed, one end of the machine tool bed is provided with the tool magazine, the machine tool changer is mounted on the machine tool bed, and the manipulator horizontal moving driving mechanism can drive the machine tool changer to move horizontally on the machine tool bed to make the manipulator approach or move away from the machine tool spindle.   
     
     
         9 . The machine tool according to  claim 8 , wherein the guide rail connected to the guide rail slider of the manipulator horizontal moving driving mechanism is identical to the guide rail used for horizontal movement of the machine tool spindle. 
     
     
         10 . A machine tool changing method of the machine tool according to  claim 8 , comprising:
 when the machine tool spindle machines a workpiece, the manipulator horizontal moving driving mechanism driving the machine tool changer to move to the end of the machine tool bed provided with the tool magazine to move the machine tool changer away from a machining area of the machine tool;   when the machine tool spindle needs a tool change, the machine tool spindle stopping machining, the manipulator rotation driving mechanism driving the manipulator to rotate around the horizontal axis to grip a corresponding tool in the tool magazine, and then, the manipulator horizontal moving driving mechanism driving the machine tool changer to move on the guide rail used for horizontal movement of the machine tool spindle to move the manipulator horizontally to a position of the machine tool spindle;   the manipulator swinging driving mechanism driving the manipulator mounting arm to swing around the horizontal axis toward the machine tool spindle to align the manipulator with the machine tool spindle;   the manipulator rotation driving mechanism driving the manipulator to rotate around the horizontal axis to switch a tool on the manipulator and a tool on the machine tool spindle; and   after switching the tool on the manipulator and the tool on the machine tool spindle, the manipulator swinging driving mechanism driving the manipulator mounting arm to swing around the horizontal axis away from the machine tool spindle, and the manipulator horizontal moving driving mechanism driving the machine tool changer to move to the end of the machine tool bed provided with the tool magazine to move the manipulator away from the machining area of the machine tool spindle.